Merge of ubitworkvarnew with opensim/master as of 20150905.

This integrates the OpenSim refactoring to make physics, etc into modules.
AVN physics hasn't been moved to new location.
Does not compile yet.

Merge branch 'osmaster' into mbworknew1

1 files changed, 444 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
new file mode 100644
index 0000000..fde9b32
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
@@ -0,0 +1,444 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class float3 : IEquatable<float3>
+    {
+        public float x;
+        public float y;
+        public float z;
+
+        public float3()
+        {
+            x = 0;
+            y = 0;
+            z = 0;
+        }
+
+        public float3(float _x, float _y, float _z)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+        }
+
+        public float3(float3 f)
+        {
+            x = f.x;
+            y = f.y;
+            z = f.z;
+        }
+
+        public float this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float Distance(float3 a)
+        {
+            float3 d = new float3(a.x - x, a.y - y, a.z - z);
+            return d.Length();
+        }
+
+        public float Distance2(float3 a)
+        {
+            float dx = a.x - x;
+            float dy = a.y - y;
+            float dz = a.z - z;
+            return dx * dx + dy * dy + dz * dz;
+        }
+
+        public float Length()
+        {
+            return (float)Math.Sqrt(x * x + y * y + z * z);
+        }
+
+        public float Area(float3 p1, float3 p2)
+        {
+            float A = Partial(p1);
+            A += p1.Partial(p2);
+            A += p2.Partial(this);
+            return A * 0.5f;
+        }
+
+        public float Partial(float3 p)
+        {
+            return (x * p.y) - (p.x * y);
+        }
+
+        // Given a point and a line (defined by two points), compute the closest point
+        // in the line.  (The line is treated as infinitely long.)
+        public void NearestPointInLine(float3 point, float3 line0, float3 line1)
+        {
+            float3 nearestPoint = new float3();
+            float3 lineDelta = line1 - line0;
+
+            // Handle degenerate lines
+            if (lineDelta == float3.Zero)
+            {
+                nearestPoint = line0;
+            }
+            else
+            {
+                float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
+                nearestPoint = line0 + lineDelta * delta;
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        // Given a point and a line segment (defined by two points), compute the closest point
+        // in the line.  Cap the point at the endpoints of the line segment.
+        public void NearestPointInLineSegment(float3 point, float3 line0, float3 line1)
+        {
+            float3 nearestPoint = new float3();
+            float3 lineDelta = line1 - line0;
+
+            // Handle degenerate lines
+            if (lineDelta == Zero)
+            {
+                nearestPoint = line0;
+            }
+            else
+            {
+                float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
+
+                // Clamp the point to conform to the segment's endpoints
+                if (delta < 0)
+                    delta = 0;
+                else if (delta > 1)
+                    delta = 1;
+
+                nearestPoint = line0 + lineDelta * delta;
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        // Given a point and a triangle (defined by three points), compute the closest point
+        // in the triangle.  Clamp the point so it's confined to the area of the triangle.
+        public void NearestPointInTriangle(float3 point, float3 triangle0, float3 triangle1, float3 triangle2)
+        {
+            float3 nearestPoint = new float3();
+
+            float3 lineDelta0 = triangle1 - triangle0;
+            float3 lineDelta1 = triangle2 - triangle0;
+
+            // Handle degenerate triangles
+            if ((lineDelta0 == Zero) || (lineDelta1 == Zero))
+            {
+                nearestPoint.NearestPointInLineSegment(point, triangle1, triangle2);
+            }
+            else if (lineDelta0 == lineDelta1)
+            {
+                nearestPoint.NearestPointInLineSegment(point, triangle0, triangle1);
+            }
+            else
+            {
+                float3[] axis = new float3[3] { new float3(), new float3(), new float3() };
+                axis[0].NearestPointInLine(triangle0, triangle1, triangle2);
+                axis[1].NearestPointInLine(triangle1, triangle0, triangle2);
+                axis[2].NearestPointInLine(triangle2, triangle0, triangle1);
+
+                float3 axisDot = new float3();
+                axisDot.x = dot(triangle0 - axis[0], point - axis[0]);
+                axisDot.y = dot(triangle1 - axis[1], point - axis[1]);
+                axisDot.z = dot(triangle2 - axis[2], point - axis[2]);
+
+                bool bForce = true;
+                float bestMagnitude2 = 0;
+                float closeMagnitude2;
+                float3 closePoint = new float3();
+
+                if (axisDot.x < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle1, triangle2);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+                if (axisDot.y < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle0, triangle2);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+                if (axisDot.z < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle0, triangle1);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+
+                // If bForce is true at this point, it means the nearest point lies
+                // inside the triangle; use the nearest-point-on-a-plane equation
+                if (bForce)
+                {
+                    float3 normal;
+
+                    // Get the normal of the polygon (doesn't have to be a unit vector)
+                    normal = float3.cross(lineDelta0, lineDelta1);
+
+                    float3 pointDelta = point - triangle0;
+                    float delta = float3.dot(normal, pointDelta) / float3.dot(normal, normal);
+
+                    nearestPoint = point - normal * delta;
+                }
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        public static float3 operator +(float3 a, float3 b)
+        {
+            return new float3(a.x + b.x, a.y + b.y, a.z + b.z);
+        }
+
+        public static float3 operator -(float3 a, float3 b)
+        {
+            return new float3(a.x - b.x, a.y - b.y, a.z - b.z);
+        }
+
+        public static float3 operator -(float3 a, float s)
+        {
+            return new float3(a.x - s, a.y - s, a.z - s);
+        }
+
+        public static float3 operator -(float3 v)
+        {
+            return new float3(-v.x, -v.y, -v.z);
+        }
+
+        public static float3 operator *(float3 v, float s)
+        {
+            return new float3(v.x * s, v.y * s, v.z * s);
+        }
+
+        public static float3 operator *(float s, float3 v)
+        {
+            return new float3(v.x * s, v.y * s, v.z * s);
+        }
+
+        public static float3 operator *(float3 v, float3x3 m)
+        {
+            return new float3((m.x.x * v.x + m.y.x * v.y + m.z.x * v.z), (m.x.y * v.x + m.y.y * v.y + m.z.y * v.z), (m.x.z * v.x + m.y.z * v.y + m.z.z * v.z));
+        }
+
+        public static float3 operator *(float3x3 m, float3 v)
+        {
+            return new float3(dot(m.x, v), dot(m.y, v), dot(m.z, v));
+        }
+
+        public static float3 operator /(float3 v, float s)
+        {
+            float sinv = 1.0f / s;
+            return new float3(v.x * sinv, v.y * sinv, v.z * sinv);
+        }
+
+        public bool Equals(float3 other)
+        {
+            return this == other;
+        }
+
+        public override bool Equals(object obj)
+        {
+            float3 f = obj as float3;
+            if (f == null)
+                return false;
+
+            return this == f;
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode();
+        }
+
+        public static bool operator ==(float3 a, float3 b)
+        {
+            // If both are null, or both are same instance, return true.
+            if (System.Object.ReferenceEquals(a, b))
+                return true;
+            // If one is null, but not both, return false.
+            if (((object)a == null) || ((object)b == null))
+                return false;
+
+            return (a.x == b.x && a.y == b.y && a.z == b.z);
+        }
+
+        public static bool operator !=(float3 a, float3 b)
+        {
+            return (a.x != b.x || a.y != b.y || a.z != b.z);
+        }
+
+        public static float dot(float3 a, float3 b)
+        {
+            return a.x * b.x + a.y * b.y + a.z * b.z;
+        }
+
+        public static float3 cmul(float3 v1, float3 v2)
+        {
+            return new float3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
+        }
+
+        public static float3 cross(float3 a, float3 b)
+        {
+            return new float3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
+        }
+
+        public static float3 Interpolate(float3 v0, float3 v1, float alpha)
+        {
+            return v0 * (1 - alpha) + v1 * alpha;
+        }
+
+        public static float3 Round(float3 a, int digits)
+        {
+            return new float3((float)Math.Round(a.x, digits), (float)Math.Round(a.y, digits), (float)Math.Round(a.z, digits));
+        }
+
+        public static float3 VectorMax(float3 a, float3 b)
+        {
+            return new float3(Math.Max(a.x, b.x), Math.Max(a.y, b.y), Math.Max(a.z, b.z));
+        }
+
+        public static float3 VectorMin(float3 a, float3 b)
+        {
+            return new float3(Math.Min(a.x, b.x), Math.Min(a.y, b.y), Math.Min(a.z, b.z));
+        }
+
+        public static float3 vabs(float3 v)
+        {
+            return new float3(Math.Abs(v.x), Math.Abs(v.y), Math.Abs(v.z));
+        }
+
+        public static float magnitude(float3 v)
+        {
+            return (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
+        }
+
+        public static float3 normalize(float3 v)
+        {
+            float d = magnitude(v);
+            if (d == 0)
+                d = 0.1f;
+            d = 1 / d;
+            return new float3(v.x * d, v.y * d, v.z * d);
+        }
+
+        public static float3 safenormalize(float3 v)
+        {
+            if (magnitude(v) <= 0.0f)
+                return new float3(1, 0, 0);
+            else
+                return normalize(v);
+        }
+
+        public static float Yaw(float3 v)
+        {
+            return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f);
+        }
+
+        public static float Pitch(float3 v)
+        {
+            return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f);
+        }
+
+        public float ComputePlane(float3 A, float3 B, float3 C)
+        {
+            float vx, vy, vz, wx, wy, wz, vw_x, vw_y, vw_z, mag;
+
+            vx = (B.x - C.x);
+            vy = (B.y - C.y);
+            vz = (B.z - C.z);
+
+            wx = (A.x - B.x);
+            wy = (A.y - B.y);
+            wz = (A.z - B.z);
+
+            vw_x = vy * wz - vz * wy;
+            vw_y = vz * wx - vx * wz;
+            vw_z = vx * wy - vy * wx;
+
+            mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
+
+            if (mag < 0.000001f)
+            {
+                mag = 0;
+            }
+            else
+            {
+                mag = 1.0f / mag;
+            }
+
+            x = vw_x * mag;
+            y = vw_y * mag;
+            z = vw_z * mag;
+
+            float D = 0.0f - ((x * A.x) + (y * A.y) + (z * A.z));
+            return D;
+        }
+
+        public override string ToString()
+        {
+            return String.Format("<{0}, {1}, {2}>", x, y, z);
+        }
+
+        public static readonly float3 Zero = new float3();
+    }
+}